{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [],
   "source": [
    "# Run this cell first to import some modules\n",
    "# we'll need to run the examples below.\n",
    "%matplotlib inline\n",
    "import math\n",
    "import numpy as np\n",
    "import matplotlib.pyplot as plt\n",
    "from IPython.display import HTML\n",
    "\n",
    "from pydrake.multibody.rigid_body_tree import (\n",
    "    RigidBodyTree,\n",
    "    FloatingBaseType\n",
    ")\n",
    "from pydrake.multibody.rigid_body_plant import (\n",
    "    RigidBodyPlant\n",
    ")\n",
    "from pydrake.systems.analysis import Simulator\n",
    "from pydrake.systems.framework import (\n",
    "    Context,\n",
    "    DiagramBuilder,\n",
    "    LeafSystem,\n",
    "    PortDataType,\n",
    "    BasicVector\n",
    ")\n",
    "from pydrake.systems.primitives import (\n",
    "    SignalLogger\n",
    ")\n",
    "from underactuated import ( FindResource, ManipulatorDynamics, PlanarRigidBodyVisualizer )"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "/usr/local/lib/python2.7/site-packages/matplotlib/figure.py:418: UserWarning: matplotlib is currently using a non-GUI backend, so cannot show the figure\n",
      "  \"matplotlib is currently using a non-GUI backend, \"\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Spawning PlanarRigidBodyVisualizer for tree with 2 actuators\n"
     ]
    },
    {
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       "\">\n",
       "  Your browser does not support the video tag.\n",
       "</video>"
      ],
      "text/plain": [
       "<IPython.core.display.HTML object>"
      ]
     },
     "execution_count": 6,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# This cell sets up a double pendulum, runs a simulation, and\n",
    "# renders a video of its results.\n",
    "\n",
    "# Load the double pendulum from Universal Robot Description Format\n",
    "tree = RigidBodyTree(FindResource(\"double_pendulum/double_pendulum.urdf\"), FloatingBaseType.kFixed)\n",
    "\n",
    "# Set up a block diagram with the robot (dynamics) and a logger block.\n",
    "builder = DiagramBuilder()\n",
    "robot = builder.AddSystem(RigidBodyPlant(tree))\n",
    "builder.ExportInput(robot.get_input_port(0))\n",
    "\n",
    "# The logger needs to be told to expect a 4-element input\n",
    "# (the 4-element double pendulum state, in this case).\n",
    "logger = builder.AddSystem(SignalLogger(4))\n",
    "logger._DeclarePeriodicPublish(0.033333, 0.0)\n",
    "builder.Connect(robot.get_output_port(0), logger.get_input_port(0))\n",
    "\n",
    "diagram = builder.Build()\n",
    "\n",
    "# Set up a simulator to run this diagram\n",
    "simulator = Simulator(diagram)\n",
    "simulator.set_publish_every_time_step(False)\n",
    "\n",
    "# Set the initial conditions\n",
    "context = simulator.get_mutable_context()\n",
    "context.FixInputPort(0, BasicVector([0.,0.]))   # Zero input torques\n",
    "state = context.get_mutable_continuous_state_vector()\n",
    "state.SetFromVector((2.,0.5,0.2,0.0))  # (theta1, theta2, theta1dot, theta2dot)\n",
    "\n",
    "# Simulate\n",
    "simulator.StepTo(10.0)\n",
    "\n",
    "# Visualize the result as a video.\n",
    "vis = PlanarRigidBodyVisualizer(tree, xlim=[-3.4,3.4], ylim=[-3.4,3.4], use_random_colors=True)\n",
    "ani = vis.animate(logger, repeat=True)\n",
    "plt.close(vis.fig)\n",
    "HTML(ani.to_html5_video())"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<matplotlib.figure.Figure at 0x10ed11910>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<matplotlib.figure.Figure at 0x10fd9de90>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "# Run this cell after running a simulation to plot traces\n",
    "# of the pendulum state across time.\n",
    "fields = [\"shoulder\", \"elbow\"]\n",
    "for i in range(2):\n",
    "    #plt.subplot(3, 1, i+1)\n",
    "    plt.plot(logger.sample_times(), logger.data()[(i, i+2), :].transpose())\n",
    "    plt.legend([\"position\", \"velocity\"])\n",
    "    plt.xlabel('t')\n",
    "    plt.ylabel(fields[i])\n",
    "    plt.grid(True)\n",
    "    plt.show()"
   ]
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 2",
   "language": "python",
   "name": "python2"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 2
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython2",
   "version": "2.7.14"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 2
}
